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Abstract

In this work, we describe multi-layered analyses of a high-resolution broad-area LADAR data set in support of expeditionary activities. High-level features are extracted from the LADAR data, such as the presence and location of buildings and cars, and then these features are used to populate a GIS (geographic information system) tool. We also apply line-of-sight (LOS) analysis to develop a path-planning module. Finally, visualization is addressed and enhanced with a gesture-based control system that allows the user to navigate through the enhanced data set in a virtual immersive experience. This work has operational applications including military, security, disaster relief, and task-based robotic path planning.

(left) The lower right of this image shows the Haiti National Penitentiary. (right) Another area in Port-au-Prince. Feature analysis based on LADAR data. Satellite imagery credit: DigitalGlobe. Approved for public release 13-387.

(left) Satellite imagery of a block in Haiti. (right) The automated classifier has identified buildings and overlaid them upon the satellite imagery from Fig. 6 (left). The buildings are randomly colored so that close buildings can be distinguished. Feature analysis based on LADAR data. Satellite imagery credit: DigitalGlobe. Approved for public release 13-387.

When the user clicks on a building or region in the GIS tool, a window pops up (lower right) with detailed information about the object that the user clicked on. Feature analysis based on LADAR data. Satellite imagery credit: DigitalGlobe. Approved for public release 13-387.

Traversability analysis. (left) Assumed walking/driving speeds as a function of terrain slope. (right) Calculated velocities and go/no-go regions over a small region. Feature analysis based on LADAR data. Approved for public release 13-387.

(left) Black line indicates the fastest path from A to B. Image colored according to height. (right) Points visible from Point C are shaded red. This figure also shows the fastest path, incorporating traversability and covertness from an observer located at point C. Analysis based on LADAR data. Approved for public release 13-387.

(left) Visibility map. This map assumes a hostile observer is equally likely to be anywhere in the region; we refer to this as the aggregated line-of-sight calculation. In this map, the red areas have the highest visibility rating, and the blue areas have the lowest visibility. (right) Fastest path from A to B, incorporating the aggregated LOS calculation. The image is colored according to height, which makes it easier to recognize features than in the visibility map image. Analysis based on LADAR data. Approved for public release 13-387.